#ifndef _TASK_H
#define _TASK_H

#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
#include "DroneParam.h"

extern DroneRTInfo RT_Info; 
extern SemaphoreHandle_t AttitudeInner_Control;
extern SemaphoreHandle_t IMU_Update;
extern SemaphoreHandle_t Data_Deal;
extern DronePIDPara Para_Info;	
extern DroneErrangle Errangle_Info; 
extern DroneFlightControl FlightControl;
extern DroneTargetInfo Target_Info; 
extern Controller Control_Info;
extern Throttle Throttle_Info;

void IMU_task(void *arg);
void Laser_task(void *arg);
void OptionFlow_task(void *arg);
void Battery_task(void *arg);
void Data_Deal_task(void *arg);
void Data_Report_task(void *arg);
void AttitudeInner_Control_task(void *arg);
void AttitudeOuter_Control_task(void *arg);
void PositionInner_Control_task(void *arg);

#endif

